Segmentation fault when running testKimeraVIO #76
Description
Description:
Attempting to run testKimeraVIO will result in a segmentation fault.
This can be reproduced using the provided branch and Dockerfile
git clone https://github.com/ruffsl/Kimera-VIO.git -b focal
cd Kimera-VIO
export DOCKER_BUILDKIT=1
docker build \
--tag spark/kimera_vio:focal \
--progress=plain \
--file focal.Dockerfile .
Note the .repos files use for the workspace underlays:
https://github.com/ruffsl/Kimera-VIO/tree/focal/install
Command:
docker run -it --rm spark/kimera_vio:focal bash
ln -s ../src/MIT-SPARK/Kimera-VIO/tests/ build/tests
cd build/kimera_vio/
./testKimeraVIO --gtest_output="xml:testresults.xml"
Console output:
[==========] Running 187 tests from 40 test suites.
[----------] Global test environment set-up.
[----------] 16 tests from VioPipelineFixture
[ RUN ] VioPipelineFixture.OnlineSequentialStart
Segmentation fault (core dumped)
Additional files:
Same effect, but build with debug instead:
[==========] Running 187 tests from 40 test suites.
[----------] Global test environment set-up.
[----------] 16 tests from VioPipelineFixture
[ RUN ] VioPipelineFixture.OnlineSequentialStart
I0513 14:57:43.480235 47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.480299 47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.495240 47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.496774 47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.496795 47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.496800 47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.496816 47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.496822 47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.496830 47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.496897 47 MesherModule.cpp:65] Shutting down queues for: Mesher
W0513 14:57:43.496984 47 Pipeline.cpp:884] No backend thread, not joining.
W0513 14:57:43.497002 47 Pipeline.cpp:884] No frontend thread, not joining.
W0513 14:57:43.497009 47 Pipeline.cpp:884] No mesher thread, not joining.
W0513 14:57:43.497014 47 Pipeline.cpp:884] No lcd thread, not joining.
W0513 14:57:43.497020 47 Pipeline.cpp:884] No visualizer thread, not joining.
I0513 14:57:43.497026 47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.497315 47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.497490 47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.498016 47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.498059 47 DataProviderInterface.cpp:31] Data provider destructor called.
I0513 14:57:43.498080 47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.499624 47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.499727 47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.499740 47 Pipeline.h:184] Spinning Kimera-VIO.
I0513 14:57:43.499799 47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.499809 47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.499814 47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.499821 47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.499828 47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.499840 47 MesherModule.cpp:65] Shutting down queues for: Mesher
I0513 14:57:43.499846 47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.499886 47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.499923 47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.500255 47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.500270 47 DataProviderInterface.cpp:31] Data provider destructor called.
[ OK ] VioPipelineFixture.OnlineSequentialStart (25 ms)
[ RUN ] VioPipelineFixture.OnlineSequentialShutdown
I0513 14:57:43.501441 47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.501454 47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.502830 47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.502936 47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.502952 47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.502957 47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.502961 47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.502964 47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.502970 47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.502982 47 MesherModule.cpp:65] Shutting down queues for: Mesher
W0513 14:57:43.502991 47 Pipeline.cpp:884] No backend thread, not joining.
W0513 14:57:43.503001 47 Pipeline.cpp:884] No frontend thread, not joining.
W0513 14:57:43.503010 47 Pipeline.cpp:884] No mesher thread, not joining.
W0513 14:57:43.503016 47 Pipeline.cpp:884] No lcd thread, not joining.
W0513 14:57:43.503026 47 Pipeline.cpp:884] No visualizer thread, not joining.
I0513 14:57:43.503032 47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.503094 47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.503129 47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.503425 47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.503439 47 DataProviderInterface.cpp:31] Data provider destructor called.
I0513 14:57:43.503446 47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.504812 47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.504917 47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.505040 47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.505049 47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.505054 47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.505067 47 MesherModule.cpp:65] Shutting down queues for: Mesher
I0513 14:57:43.505074 47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.505080 47 Pipeline.h:184] Spinning Kimera-VIO.
I0513 14:57:43.505089 47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.505095 47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.505100 47 Pipeline.cpp:283] Manual shutdown was requested.
I0513 14:57:43.505131 47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.505167 47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.505477 47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.505491 47 DataProviderInterface.cpp:31] Data provider destructor called.
[ OK ] VioPipelineFixture.OnlineSequentialShutdown (5 ms)
[ RUN ] VioPipelineFixture.OnlineSequentialSpinOnce
I0513 14:57:43.506578 47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.506589 47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.507920 47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.508038 47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.508054 47 testPipeline.cpp:121] Destroying pipeline.
I0513 14:57:43.508059 47 Pipeline.cpp:278] Pipeline destructor called.
I0513 14:57:43.508064 47 Pipeline.cpp:493] Shutting down VIO pipeline.
I0513 14:57:43.508069 47 Pipeline.cpp:499] Calling registered shutdown callbacks...
I0513 14:57:43.508074 47 DataProviderInterface.cpp:72] Shutting down DataProviderInterface.
I0513 14:57:43.508085 47 MesherModule.cpp:65] Shutting down queues for: Mesher
W0513 14:57:43.508093 47 Pipeline.cpp:884] No backend thread, not joining.
W0513 14:57:43.508105 47 Pipeline.cpp:884] No frontend thread, not joining.
W0513 14:57:43.508112 47 Pipeline.cpp:884] No mesher thread, not joining.
W0513 14:57:43.508121 47 Pipeline.cpp:884] No lcd thread, not joining.
W0513 14:57:43.508131 47 Pipeline.cpp:884] No visualizer thread, not joining.
I0513 14:57:43.508141 47 Pipeline.cpp:513] VIO Pipeline's threads shutdown successfully.
VIO Pipeline successful shutdown.
I0513 14:57:43.508183 47 VioBackEnd.h:87] Backend destructor called.
I0513 14:57:43.508221 47 StereoVisionFrontEnd.h:63] StereoVisionFrontEnd destructor called.
I0513 14:57:43.508517 47 EurocDataProvider.cpp:88] ETHDatasetParser destructor called.
I0513 14:57:43.508532 47 DataProviderInterface.cpp:31] Data provider destructor called.
I0513 14:57:43.508538 47 testPipeline.cpp:40] Building pipeline.
I0513 14:57:43.509769 47 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0513 14:57:43.509874 47 testPipeline.cpp:67] Connecting pipeline.
I0513 14:57:43.509889 47 EurocDataProvider.cpp:97] Parsing Euroc dataset...
Segmentation fault (core dumped)
Please give also the following information:
- SparkVio version used: ?
- GTSAM version used: https://github.com/borglab/gtsam/tree/develop
- OpenGV version used: https://github.com/ruffsl/opengv/tree/patch-1
- Same as upstream
masterbranch; fork only fixes thepackage.xml
- Same as upstream
- OpenCV version used: 4.2.0
- Operating system: Ubuntu 20.04
- Source code changes: